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seigot / burger_war

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【test】雑談用Issue #1

Closed seigot closed 5 years ago

seigot commented 5 years ago

雑談用Issue

seigot commented 5 years ago

行きたいところ。。

オープンソースカンファレンス2019京都 @ 京都リサーチパーク(KRP) 8/2-8/3 https://www.ospn.jp/osc2019-kyoto/

MakerFaire東京@東京ビックサイト 8/3-8/4 https://makezine.jp/event/mft2019/

seigot commented 5 years ago

決勝で使うTurtleBot3実機上のボードはこちらのようだ

intel NUC BEAN CANYON BareBone i3-8109U https://www.amazon.co.jp/dp/B07JW4X5TL/ref=cm_sw_r_tw_dp_U_x_IIcoDb5B857A9

seigot commented 5 years ago

TurtleBot3に活かせないか、、と思ってしまった

ZMP、1人乗り自動運転モビリティ『Robocar Walk』を発表---空港や商業施設での活用を想定 https://response.jp/article/2019/07/24/324798.html

seigot commented 5 years ago

練習会 @ WLO が予定されている様子 https://app.slack.com/client/TLGEJUA5S/CLM9K4USU/thread/CLM9K4USU-1563936323.022400

8/20 18:00～ 8/21 18:00～ 8/25 終日(日曜日) 8/27 18:00～ 8/28 18:00～ 8/29 19:00～

seigot commented 5 years ago

雑談はslackに移動させる。本件closeする。

seigot commented 5 years ago

少し競技内容は異なるが、以下のようなリーグも存在する

AWS DeepRacerリーグ

seigot commented 5 years ago

・フォーク元のdevブランチが更新されているのでマージが必要 https://github.com/OneNightROBOCON/burger_war/tree/dev

⇒マージは下記コマンドで実施予定

GitHubでフォーク元の差分を取り込む

ローカル環境で該当プロジェクトのディレクトリに移行して、フォーク元のリポジトリを登録します。 $ git remote add upstream git://github.com/octocat/Spoon-Knife.git git://github.com/octocat/Spoon-Knife.gitはフォーク元のURLになります。 フォーク元からの内容を取得して、自分のmasterにマージします。 $ git fetch upstream $ git merge upstream/master

⇒（修正版）マージは下記コマンドで実施予定

git checkout master git remote add upstream https://github.com/OneNightROBOCON/burger_war.git git fetch upstream git merge upstream/master

seigot commented 5 years ago

Turtlebot3 を使った競技会 Challenges http://emanual.robotis.com/docs/en/platform/turtlebot3/challenges/#online-competition-on-rds

seigot commented 5 years ago

メモ

ちょっとしたメモですが、下記を入れるとGazeboがリセットされるので、ソースコード直すたびにGazeboを立ち上げなおす必要がなくて、便利です。 rosservice call /gazebo/reset_simulation "{}"

seigot commented 5 years ago

メモ

クラウドで開発環境構築にチャレンジしてみました。ひとまず動いてますが、遅いです。が、意外に使えます。 https://github.com/hotic06/burger_war/blob/master/doc/CloudInstall.md

seigot commented 5 years ago

Robotics Hub slack channel
https://app.slack.com/client/TLGEJUA5S/CL9TFG2RZ/thread/CL9TFG2RZ-1564537812.057400

seigot commented 5 years ago

slack: roboticshubchallenge

seigot commented 5 years ago

ubuntu@ubuntu:~/catkin_ws/src$ rostopic list /blue_bot/amcl/parameter_descriptions /blue_bot/amcl/parameter_updates /blue_bot/amcl_pose /blue_bot/aruco_marker_publisher/debug /blue_bot/aruco_marker_publisher/debug/compressed /blue_bot/aruco_marker_publisher/debug/compressed/parameter_descriptions /blue_bot/aruco_marker_publisher/debug/compressed/parameter_updates /blue_bot/aruco_marker_publisher/debug/compressedDepth /blue_bot/aruco_marker_publisher/debug/compressedDepth/parameter_descriptions /blue_bot/aruco_marker_publisher/debug/compressedDepth/parameter_updates /blue_bot/aruco_marker_publisher/debug/theora /blue_bot/aruco_marker_publisher/debug/theora/parameter_descriptions /blue_bot/aruco_marker_publisher/debug/theora/parameter_updates /blue_bot/aruco_marker_publisher/markers_list /blue_bot/aruco_marker_publisher/result /blue_bot/aruco_marker_publisher/result/compressed /blue_bot/aruco_marker_publisher/result/compressed/parameter_descriptions /blue_bot/aruco_marker_publisher/result/compressed/parameter_updates /blue_bot/aruco_marker_publisher/result/compressedDepth /blue_bot/aruco_marker_publisher/result/compressedDepth/parameter_descriptions /blue_bot/aruco_marker_publisher/result/compressedDepth/parameter_updates /blue_bot/aruco_marker_publisher/result/theora /blue_bot/aruco_marker_publisher/result/theora/parameter_descriptions /blue_bot/aruco_marker_publisher/result/theora/parameter_updates /blue_bot/camera_info /blue_bot/cmd_vel /blue_bot/image_raw /blue_bot/image_raw/compressed /blue_bot/image_raw/compressed/parameter_descriptions /blue_bot/image_raw/compressed/parameter_updates /blue_bot/image_raw/compressedDepth /blue_bot/image_raw/compressedDepth/parameter_descriptions /blue_bot/image_raw/compressedDepth/parameter_updates /blue_bot/image_raw/theora /blue_bot/image_raw/theora/parameter_descriptions /blue_bot/image_raw/theora/parameter_updates /blue_bot/imu /blue_bot/initialpose /blue_bot/joint_states /blue_bot/map /blue_bot/map_metadata /blue_bot/map_updates /blue_bot/move_base/DWAPlannerROS/cost_cloud /blue_bot/move_base/DWAPlannerROS/global_plan /blue_bot/move_base/DWAPlannerROS/local_plan /blue_bot/move_base/DWAPlannerROS/parameter_descriptions /blue_bot/move_base/DWAPlannerROS/parameter_updates /blue_bot/move_base/DWAPlannerROS/trajectory_cloud /blue_bot/move_base/NavfnROS/plan /blue_bot/move_base/cancel /blue_bot/move_base/current_goal /blue_bot/move_base/feedback /blue_bot/move_base/global_costmap/costmap /blue_bot/move_base/global_costmap/costmap_updates /blue_bot/move_base/global_costmap/footprint /blue_bot/move_base/global_costmap/inflation_layer/parameter_descriptions /blue_bot/move_base/global_costmap/inflation_layer/parameter_updates /blue_bot/move_base/global_costmap/obstacle_layer/parameter_descriptions /blue_bot/move_base/global_costmap/obstacle_layer/parameter_updates /blue_bot/move_base/global_costmap/parameter_descriptions /blue_bot/move_base/global_costmap/parameter_updates /blue_bot/move_base/global_costmap/static_layer/parameter_descriptions /blue_bot/move_base/global_costmap/static_layer/parameter_updates /blue_bot/move_base/goal /blue_bot/move_base/local_costmap/costmap /blue_bot/move_base/local_costmap/costmap_updates /blue_bot/move_base/local_costmap/footprint /blue_bot/move_base/local_costmap/inflation_layer/parameter_descriptions /blue_bot/move_base/local_costmap/inflation_layer/parameter_updates /blue_bot/move_base/local_costmap/obstacle_layer/parameter_descriptions /blue_bot/move_base/local_costmap/obstacle_layer/parameter_updates /blue_bot/move_base/local_costmap/parameter_descriptions /blue_bot/move_base/local_costmap/parameter_updates /blue_bot/move_base/parameter_descriptions /blue_bot/move_base/parameter_updates /blue_bot/move_base/result /blue_bot/move_base/status /blue_bot/move_base_simple/goal /blue_bot/odom /blue_bot/particlecloud /blue_bot/scan /blue_bot/target_id /blue_bot/war_state /clock /gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/set_link_state /gazebo/set_model_state /gazebo_gui/parameter_descriptions /gazebo_gui/parameter_updates /initialpose /move_base/local_costmap/footprint /red_bot/amcl/parameter_descriptions /red_bot/amcl/parameter_updates /red_bot/amcl_pose /red_bot/aruco_marker_publisher/debug /red_bot/aruco_marker_publisher/debug/compressed /red_bot/aruco_marker_publisher/debug/compressed/parameter_descriptions /red_bot/aruco_marker_publisher/debug/compressed/parameter_updates /red_bot/aruco_marker_publisher/debug/compressedDepth /red_bot/aruco_marker_publisher/debug/compressedDepth/parameter_descriptions /red_bot/aruco_marker_publisher/debug/compressedDepth/parameter_updates /red_bot/aruco_marker_publisher/debug/theora /red_bot/aruco_marker_publisher/debug/theora/parameter_descriptions /red_bot/aruco_marker_publisher/debug/theora/parameter_updates /red_bot/aruco_marker_publisher/markers_list /red_bot/aruco_marker_publisher/result /red_bot/aruco_marker_publisher/result/compressed /red_bot/aruco_marker_publisher/result/compressed/parameter_descriptions /red_bot/aruco_marker_publisher/result/compressed/parameter_updates /red_bot/aruco_marker_publisher/result/compressedDepth /red_bot/aruco_marker_publisher/result/compressedDepth/parameter_descriptions /red_bot/aruco_marker_publisher/result/compressedDepth/parameter_updates /red_bot/aruco_marker_publisher/result/theora /red_bot/aruco_marker_publisher/result/theora/parameter_descriptions /red_bot/aruco_marker_publisher/result/theora/parameter_updates /red_bot/camera_info /red_bot/cmd_vel /red_bot/image_raw /red_bot/image_raw/compressed /red_bot/image_raw/compressed/parameter_descriptions /red_bot/image_raw/compressed/parameter_updates /red_bot/image_raw/compressedDepth /red_bot/image_raw/compressedDepth/parameter_descriptions /red_bot/image_raw/compressedDepth/parameter_updates /red_bot/image_raw/theora /red_bot/image_raw/theora/parameter_descriptions /red_bot/image_raw/theora/parameter_updates /red_bot/imu /red_bot/initialpose /red_bot/joint_states /red_bot/map /red_bot/map_metadata /red_bot/map_updates /red_bot/move_base/DWAPlannerROS/cost_cloud /red_bot/move_base/DWAPlannerROS/global_plan /red_bot/move_base/DWAPlannerROS/local_plan /red_bot/move_base/DWAPlannerROS/parameter_descriptions /red_bot/move_base/DWAPlannerROS/parameter_updates /red_bot/move_base/DWAPlannerROS/trajectory_cloud /red_bot/move_base/NavfnROS/plan /red_bot/move_base/cancel /red_bot/move_base/current_goal /red_bot/move_base/feedback /red_bot/move_base/global_costmap/costmap /red_bot/move_base/global_costmap/costmap_updates /red_bot/move_base/global_costmap/footprint /red_bot/move_base/global_costmap/inflation_layer/parameter_descriptions /red_bot/move_base/global_costmap/inflation_layer/parameter_updates /red_bot/move_base/global_costmap/obstacle_layer/parameter_descriptions /red_bot/move_base/global_costmap/obstacle_layer/parameter_updates /red_bot/move_base/global_costmap/parameter_descriptions /red_bot/move_base/global_costmap/parameter_updates /red_bot/move_base/global_costmap/static_layer/parameter_descriptions /red_bot/move_base/global_costmap/static_layer/parameter_updates /red_bot/move_base/goal /red_bot/move_base/local_costmap/costmap /red_bot/move_base/local_costmap/costmap_updates /red_bot/move_base/local_costmap/footprint /red_bot/move_base/local_costmap/inflation_layer/parameter_descriptions /red_bot/move_base/local_costmap/inflation_layer/parameter_updates /red_bot/move_base/local_costmap/obstacle_layer/parameter_descriptions /red_bot/move_base/local_costmap/obstacle_layer/parameter_updates /red_bot/move_base/local_costmap/parameter_descriptions /red_bot/move_base/local_costmap/parameter_updates /red_bot/move_base/parameter_descriptions /red_bot/move_base/parameter_updates /red_bot/move_base/result /red_bot/move_base/status /red_bot/move_base_simple/goal /red_bot/odom /red_bot/particlecloud /red_bot/scan /red_bot/target_id /red_bot/war_state /rosout /rosout_agg /tf /tf_static

seigot commented 5 years ago

確かにamcl_poseで自己位置★が配信されていそうです @ubuntu:~/catkin_ws/src$ stopic echo /red_bot/amcl_pose

header: seq: 1293 stamp: secs: 1304 nsecs: 754000000 frame_id: "red_bot/map" pose: pose: position: x: 0.0709629396173 ★ y: -1.16701980507 ★ z: 0.0 orientation: x: 0.0 y: 0.0 z: -0.833165080073 w: 0.553024365961 covariance: [0.0005462148907375277, 3.129328416551225e-05, 0.0, 0.0, 0.0, 0.0, 3.129328416551225e-05, 0.0006666674656912175, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002110335560738571]

seigot commented 5 years ago

オドメトリご参考 https://gist.github.com/atotto/f2754f75bedb6ea56e3e0264ec405dcf

seigot commented 5 years ago

$ rostopic info /red_bot/amcl_pose Type: geometry_msgs/PoseWithCovarianceStamped

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